METHOD AND APPARATUS FOR RECOGNIZING THREE-DIMENSIONAL POSITION AND ATTITUDE BASED ON VISUAL SENSE

摘要

PURPOSE: To achieve higher evaluation accuracy for position and attitude searched by detecting a contour line at a high accuracy from image information not depending on a real environment where work is arranged. ;CONSTITUTION: A camera 4 computes feature points of an image of work photographed from a specified range of position based on teaching information with an image processing section 7. The image feature points are corrected on the basis of the results of judging color vectors of a color judging section 12 to be extracted as the optimum image feature points. A space searching area is set with a quantization space searching section 22 and estimated image feature points to be obtained when the work is photographed with the camera 4 at quantization space points are computed by determining a fluoroscopic conversion matrix while a deviation from the image feature points is computed by an error evaluation function. Error value is evaluated comprehensively by determining a distance between the points, a linear error sum and an area sum. When a specified demand error accuracy is satisfied, the current quantization space points and an attitude parameter are outputted as the position and attitude of the camera 4 thereby enabling detection of a position and attitude quickly and at high accuracy.;COPYRIGHT: (C)1995,JPO